Extended observer forms for discrete-time nonlinear systems
- Tanel Mullari,
- Ulle Kotta,
- Arvo Kaldmäe,
- Vadim Kaparin,
- Maris Tõnso,
- Ewa Pawluszewicz
Tanel Mullari
Tallinna Tehnikaulikool
Corresponding Author:tanel.mullari@taltech.ee
Author ProfileAbstract
The paper addresses the problem of transforming observable,
time-reversible and multi-input single-output discrete-time state
equations into the extended observer form which comprises a linear
observable component and a nonlinear injection term depending on the
inputs, output, and a finite number of their past values. The intrinsic
necessary and sufficient conditions for existence of the extended
observer form are provided in terms of a certain vector field, defined
by the system output and its past values. The algorithm is presented to
find a parametrized state transformation that takes the state equations
into the considered extended observer form. Two examples, one of them
academic, illustrate the theory.09 Apr 2024Submitted to International Journal of Robust and Nonlinear Control 09 Apr 2024Submission Checks Completed
09 Apr 2024Assigned to Editor
15 Apr 2024Reviewer(s) Assigned